US9445059B2 - Image processing system for a vehicle - Google Patents

Image processing system for a vehicle Download PDF

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US9445059B2
US9445059B2 US14/328,246 US201414328246A US9445059B2 US 9445059 B2 US9445059 B2 US 9445059B2 US 201414328246 A US201414328246 A US 201414328246A US 9445059 B2 US9445059 B2 US 9445059B2
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video image
video
image signal
unit
transformed
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US20140313409A1 (en
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Andreas Schramm
Thilo Baur
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Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/24—Systems for the transmission of television signals using pulse code modulation
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G5/00—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
    • G09G5/003—Details of a display terminal, the details relating to the control arrangement of the display terminal and to the interfaces thereto
    • G09G5/006—Details of the interface to the display terminal
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G5/00—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
    • G09G5/02—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators characterised by the way in which colour is displayed
    • G09G5/026—Control of mixing and/or overlay of colours in general
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/64—Hybrid switching systems
    • H04L12/6418—Hybrid transport
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
    • H04N21/43—Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
    • H04N21/44—Processing of video elementary streams, e.g. splicing a video clip retrieved from local storage with an incoming video stream or rendering scenes according to encoded video stream scene graphs
    • H04N21/4402—Processing of video elementary streams, e.g. splicing a video clip retrieved from local storage with an incoming video stream or rendering scenes according to encoded video stream scene graphs involving reformatting operations of video signals for household redistribution, storage or real-time display
    • H04N21/440218—Processing of video elementary streams, e.g. splicing a video clip retrieved from local storage with an incoming video stream or rendering scenes according to encoded video stream scene graphs involving reformatting operations of video signals for household redistribution, storage or real-time display by transcoding between formats or standards, e.g. from MPEG-2 to MPEG-4
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/01—Conversion of standards, e.g. involving analogue television standards or digital television standards processed at pixel level
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/64—Circuits for processing colour signals
    • H04N9/74—Circuits for processing colour signals for obtaining special effects
    • H04N9/76—Circuits for processing colour signals for obtaining special effects for mixing of colour signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2340/00—Aspects of display data processing
    • G09G2340/06—Colour space transformation
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2340/00—Aspects of display data processing
    • G09G2340/12—Overlay of images, i.e. displayed pixel being the result of switching between the corresponding input pixels
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2370/00—Aspects of data communication
    • G09G2370/02—Networking aspects
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2370/00—Aspects of data communication
    • G09G2370/12—Use of DVI or HDMI protocol in interfaces along the display data pipeline
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2380/00—Specific applications
    • G09G2380/10—Automotive applications
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G5/00—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
    • G09G5/36—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators characterised by the display of a graphic pattern, e.g. using an all-points-addressable [APA] memory
    • G09G5/39—Control of the bit-mapped memory
    • G09G5/395—Arrangements specially adapted for transferring the contents of the bit-mapped memory to the screen
    • G09G5/397—Arrangements specially adapted for transferring the contents of two or more bit-mapped memories to the screen simultaneously, e.g. for mixing or overlay
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
    • H04N21/41—Structure of client; Structure of client peripherals
    • H04N21/414—Specialised client platforms, e.g. receiver in car or embedded in a mobile appliance
    • H04N21/41422—Specialised client platforms, e.g. receiver in car or embedded in a mobile appliance located in transportation means, e.g. personal vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/10—Adaptations for transmission by electrical cable
    • H04N7/108—Adaptations for transmission by electrical cable the cable being constituted by a pair of wires

Definitions

  • the invention relates to an image processing system for a vehicle, including a first unit, a second unit and a video transmission link, which couples the first unit and the second unit in terms of signaling for transmitting digital video data.
  • an image processing system for a vehicle comprising a first unit, a second unit and a video transmission link, which couples the first unit and the second unit in terms of signaling, for transmitting digital video data.
  • the video transmission link is designed to transmit digital video image signals having a predefined data format for a respective pixel of a video image, the data format comprising three blocks, each having a predefined number of bits.
  • the first unit is designed to transmit an uncompressed, transformed video image signal suitable for transmission via the video transmission link as a function of a respective first video image signal in such a way that the transformed video image signal has the predefined data format of the video transmission link.
  • the first video image signal represents respective uncompressed first video images of a sequence of first video images, which are provided at a predefined frame rate and which in each case have a first image resolution having a predefined number of pixels, wherein in each case four pixel values are assigned to the respective pixels of the first video image.
  • the second unit is designed to again ascertain the first video image signal as a function of the transformed video image signal received via the transmission link.
  • this allows digital video images, which include an alpha channel in addition to three color channels, for example, to be transmitted in uncompressed form via a video transmission link, which otherwise is only provided for transmission of uncompressed video images having three color channels.
  • video transmission links provided for transmitting uncompressed video images having three color channels include, for example, a High Definition Multimedia Interface (HDMI) transmission link, a Digital Visual Interface (DVI) transmission link and/or an Automotive Pixel Link (APIX).
  • HDMI High Definition Multimedia Interface
  • DVI Digital Visual Interface
  • APIX Automotive Pixel Link
  • this allows the first video images to be made available for further devices in the vehicle, which are suitably designed, for example, for visually displaying the first video images and/or which are designed to merge the first video images and further video images generated by the further and/or other units to form a fused image.
  • This makes it possible to suitably combine information from different images generated by different sources in a fused image.
  • a first pixel value representing a red color, a second pixel value representing a green color, a third pixel value representing a blue color, and a fourth pixel value representing transparency are assigned to the respective pixel of the first video image.
  • three color channels and one alpha channel are assigned to the pixel.
  • the alpha channel is an additional channel that represents the transparency of the individual pixels in raster graphics, in addition to the color information.
  • the image processing system according to the invention allows the first video images to have a direct alpha channel, in which the respective transparency information is stored in a separate channel, in addition to the color channels.
  • a pixel is thus stored using not only three values, for example using a respective value for red, green and blue, but using four values, such as a respective value for red, green, blue and transparency.
  • no external alpha channel is required in which the transparency information is stored and/or transmitted as a separate file.
  • the second unit is designed to ascertain an overall video image signal as a function of the first video image signal, which has been ascertained again, and a second video image signal.
  • the second video image signal represents respective second video images of a sequence of second video images, which are provided at a predefined second frame rate and which in each case have a second image resolution having a predefined number of pixels. In each case, three pixel values are assigned to the respective pixels of the second video image.
  • the overall video image signal is ascertained in such a way that the overall video image signal represents respective image-in-image video images of a sequence of image-in-image video images.
  • first and second video images can be merged, so that the image-in-image video image has a higher useful information content and/or less interference than the first and/or second video images.
  • the frame rate and the second frame rate can be selected to be identical. This allows for easy calculation of the overall video image signal.
  • the frame rate and the second frame rate are preferably selected in such a way that a human eye is conveyed a flowing image impression by moving image contents.
  • the overall video signal is ascertained in such a way that a weighting of an overlay of the respective pixels of the first video image and of the second video image is carried out as a function of the fourth pixel values of the first video image representing the transparency.
  • this allows the respective first video image to be inserted into the respective second video image in such a way that no transitions between the respective first video image and the respective second video image are visible to an observer of the respective image-in-image video images when the image-in-image video images are displayed by way of an output device.
  • this makes it impossible for an observer to detect which unit provides which image contents in the respective image-in-image video image.
  • the first unit is designed to generate the first video image signal. This enables a compact design of the image processing system.
  • the second unit is designed to generate the second video image signal.
  • this also enables a compact design of the image processing system.
  • the first unit is designed to convert the respective first video image signal into the transformed video image signal in such a way that the transformed video image signal represents a transformed video image, which has the same pixel values as the first video image and a number of pixels greater by a factor of 4/3 than the first video image and in which in each case three pixel values are assigned to the respective pixels of the transformed video image.
  • this makes it possible with very low computing complexity to convert the first video image signal into the transformed video image signal, so that the transformed video image signal has the predefined data format of the video transmission link.
  • One of the three pixel values can be assigned to the respective block of the three blocks.
  • the number of bits of the blocks can be six or eight. The number of bits can be predefined as a function of a desired value range of the respective pixel values.
  • the first unit is designed to convert the respective first video image signal into the transformed video image signal in such a way that three consecutive pixels of the first video image in each case are covered by four consecutive pixels of the transformed video image.
  • this allows for the first video image signal to be converted into the transformed video image signal using only very low computing complexity.
  • this has the advantage that a proportion of pixel values requiring buffering can be minimized.
  • an order is assigned to the pixel values of the first video image, and the first unit is designed to convert the respective first video image signal into the transformed video image signal in such a way that the pixel values of the transformed video image have the same order.
  • this allows for the first video image signal to be converted into the transformed video image signal using only very low computing complexity.
  • this has the advantage that no resorting of the pixel values is required, and thus any necessary buffering of the pixel values can be eliminated.
  • FIG. 1 is a block diagram illustrating an exemplary embodiment of an image processing system
  • FIG. 2 shows an image-in-image video image resulting from a first and a second video image
  • FIG. 3 shows an image-in-image video image resulting from a further first video image and a second video image
  • FIG. 4 is a diagram illustrating a pixel flow chart
  • FIG. 5 is a diagram illustrating a further pixel flow chart.
  • FIG. 1 shows an image processing system 10 for a vehicle.
  • the vehicle can be designed as a motor vehicle, for example.
  • the image processing system 10 comprises a first unit 20 , a second unit 30 and a video transmission link 40 .
  • the video transmission link 40 couples the first unit 20 and the second unit 30 in terms of signaling for transmitting digital video data.
  • the video transmission link 40 can include an Automotive Pixel Link (APIX).
  • APIX is designed in such a way that it meets special requirements in the vehicle environment; for example, the APIX has an increased temperature range and/or higher immunity to interference and/or lower electromagnetic emission compared to video transmission links used in private households.
  • Such an APIX thus allows reliable and cost-effective video signal transmission between the first unit 20 and the second unit 30 of the image processing system 10 of the vehicle.
  • the video transmission link 40 includes a transmitter module, which has a first and a second interface.
  • the first interface of the transmitter module is electrically coupled to a further interface of the first unit 20 in a predefined manner, for example.
  • the second interface of the transmitter module is electrically coupled to a cable, for example, such as a shielded twisted pair cable.
  • the transmitter module is designed to read in, in parallel, three data words having a predefined number of bits, such as 8 bits, at the first interface thereof and to output these, serially, at the second interface thereof.
  • the respective data word can represent one of three pixel values of a pixel of a video image in each case.
  • the video transmission link 40 further includes a receiver module, which has a first and a second interface.
  • the first interface is electrically coupled to a further interface of the second unit 30 in a predefined manner.
  • the second interface is electrically coupled to the cable.
  • the receiver module is designed, for example, to serially read in the transmitted data at the second interface thereof and to output, in parallel, the three data words having the predefined number of bits at the first interface thereof.
  • the first unit 20 can include a key unit of an infotainment system of the vehicle.
  • the key unit of an infotainment system in a motor vehicle is also referred to as the head unit.
  • the first unit 20 is designed to ascertain an uncompressed, transformed video image signal suitable for transmission via the video transmission link 40 as a function of a respective first video image signal in such a way that the transformed video image signal has the predefined data format of the video transmission link 40 .
  • the first video image signal represents respective uncompressed first video images B 1 of a sequence of first video images B 1 , which are provided at a predefined frame rate and which in each case have a first image resolution having a predefined number of pixels, wherein in each case four pixel values are assigned to the respective pixels of the first video image B 1 .
  • the first video image B 1 can have three color channels and one alpha channel.
  • a fourth pixel value A representing transparency are assigned to the respective pixel of the first video image B 1 .
  • the first unit 20 is furthermore designed to generate the first video image signal, for example.
  • the first unit 20 can be designed to carry out an image synthesis, also referred to as rendering, and can thus be designed to generate video images from raw data.
  • the raw data can include a virtual spatial model defining objects and the material properties thereof, light sources, and the position and viewing direction of an observer.
  • the first unit 20 can be designed to ascertain image meta-information.
  • the image meta-information can include substitute geometry data, so-called bounding boxes, for three-dimensional objects, for example.
  • the second unit 30 can include a head-up display control unit, for example, for a head-up display and/or a combination instrument of the vehicle.
  • a visual output device 50 such as a display, is assigned to the second unit 30 , for example.
  • the second unit 30 can be coupled in terms of signaling to the visual output device 50 , such as by way of a further video transmission link 55 , which is designed equivalent to the video transmission link 40 .
  • the second unit 30 is designed to again ascertain the first video image signal as a function of the transformed video image signal received via the transmission link.
  • the second unit 30 is further designed to ascertain an overall video image signal as a function of the first video image signal, which has been ascertained again, and a second video image signal.
  • the second video image signal represents respective second video images B 2 of a sequence of second video images B 2 , which are provided at a predefined second frame rate and which in each case have a second image resolution having a predefined second number of pixels. In each case, three pixel values are assigned to the respective pixels of the second video image B 2 .
  • the overall video image signal is ascertained in such a way that the overall video image signal represents respective image-in-image video images B 3 of a sequence of image-in-image video images B 3 .
  • the second video image B 2 can have three color channels.
  • the first pixel value R representing the red color, the second pixel value G representing the green color and the third pixel value B representing the blue color can be assigned to the respective pixel of the second video image B 2 .
  • the second unit 30 can furthermore be designed to generate the second video image signal.
  • a further unit can be designed to generate the respective second video image signals and transmit these to the second unit 30 .
  • the image processing system 10 can have a network connection 70 between the first unit 20 and the second unit 30 .
  • the network connection 70 can be designed as an Ethernet connection, for example.
  • the network connection 70 can allow further image information to be exchanged between the first unit 20 and the second unit 30 .
  • FIG. 2 shows, by way of example, in each case one of the first video images B 1 and one of the second video images B 2 from a sequence of first video images B 1 and a sequence of second video images B 2 , and the image-in-image video image B 3 resulting from the first video image B 1 and the second video image B 2 .
  • the first video image B 1 shows a three-dimensional automobile model.
  • the second video image B 2 shows a three-dimensional scene including a ground area.
  • the first video image B 1 and the second video image B 2 have the same resolution, which is to say a number of pixels in a horizontal direction x and a number of pixels in a vertical direction y are the same in each case in the first video image B 1 and the second video image B 2 .
  • the automobile model is surrounded by a transparent background, for example.
  • the first video image B 1 was generated by the first unit 20 , for example, and transmitted via the video transmission link 40 to the second unit 30 .
  • the second video image B 2 was generated by the second unit 30 , for example.
  • the second unit 30 is designed, for example, to ascertain the overall video signal in such a way that a weighting of an overlay of the respective pixels of the first video image B 1 and of the second video image B 2 is carried out as a function of the fourth pixel values of the first video image B 1 representing the transparency. This makes it possible that no transitions between the respective first video image B 1 and the respective second video image B 2 are visible to the observer in the shown image-in-image video image B 3 .
  • the automobile model and the ground area involve three-dimensional objects, for example, it can be advantageous to use the same camera parameters for ascertaining the overall video image signal, which is to say during an image synthesis, as for the generation of the first video image signal.
  • FIG. 3 shows, by way of example, in each case one of the first video images B 1 and one of the second video images B 2 from a further sequence of first video images B 1 and a further sequence of second video images B 2 , and the image-in-image video image B 3 resulting from the first video image B 1 and the second video image B 2 .
  • the first video image B 1 shows a three-dimensional automobile model.
  • the second video image B 2 shows a three-dimensional scene including an archway and a ground area.
  • the first video image B 1 and the second video image B 2 have the same resolution, which is to say a number of pixels in a horizontal direction x and a number of pixels in a vertical direction y are the same in each case in the first video image B 1 and the second video image B 2 .
  • the automobile model is surrounded by a transparent background, for example.
  • the second unit 30 ascertains the overall video image signal representing the uncompressed image-in-image video image B 3 as a function of the first video image signal of the first video image B 1 and the second video image signal of the second video image B 2 .
  • the objects partially overlap in the image-in-image video image B 3 .
  • a substitute geometry also referred to as a bounding box, surrounding the automobile model is ascertained by the first unit 20 , in addition to the actual image data, and if these data are transmitted on a supplementary basis via the network connection 70 to the second unit 30 .
  • the overall video image signal can then be ascertained as a function of the first video image signal, the second video image signal and the data regarding the substitute geometry.
  • FIG. 4 is a schematic flow chart of the pixels, proceeding from the first video image B 1 of the first unit 20 up to the further processing step of the first video image B 1 , which has been ascertained again, in the second unit 30 .
  • the pixel values provided with subscript such as B 0 , G 0 , R 0 and A 0 , represent the pixel values of a specific pixel of the first video image, such as of the first pixel of the first video image.
  • the first unit 20 is designed to convert the respective first video image signal B 1 into the transformed video image signal in such a way that the transformed video image signal represents a transformed video image B_trans, which has the same pixel values as the first video image B 1 and a number of pixels greater by a factor of 4/3 than the first video image B 1 , and in which in each case three pixel values are assigned to the respective pixels of the transformed video image B_trans.
  • the transformed video image signal represents a transformed video image B_trans, which has the same pixel values as the first video image B 1 and a number of pixels greater by a factor of 4/3 than the first video image B 1 , and in which in each case three pixel values are assigned to the respective pixels of the transformed video image B_trans.
  • FIG. 4 shows the pixel values for three pixels of the first video image B 1 .
  • the first unit 20 is designed to convert the respective first video image signal into the transformed video image signal in such a way that three consecutive pixels of the first video image B 1 in each case are covered by four consecutive pixels of the transformed video image B_trans.
  • an order can be assigned to the pixel values of the first video image B 1
  • the first unit 20 is designed, for example, to convert the respective first video image signal into the transformed video image signal in such a way that the pixel values of the transformed video image B_trans have the same order.
  • the second unit 30 is designed to again ascertain the first video image signal as a function of the transformed video image signal received via the transmission link, such as by way of a back-transformation corresponding to the transformation of the first unit 20 .
  • FIG. 5 is a further schematic flow chart of the pixels, proceeding from the first video image B 1 of the first unit 20 up to the further processing step of the first video image B 1 , which has been ascertained again, in the second unit 30 .
  • the second unit 30 is designed to convert the received transformed video image signal into a preliminary first video image signal in such a way that the preliminary first video image signal represents preliminary first video images B 1 ′, wherein in each case three consecutive pixels of the transformed video image B_trans are covered by three consecutive pixels of the preliminary first video image B 1 ′.
  • the respective pixels of the preliminary first video image BF are enhanced by one further pixel value, which has the same value for all pixels, for example.
  • the second unit 30 is designed to ascertain the first video image signal as a function of the preliminary first video image signal by way of a filter known as a shader.

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  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Image Processing (AREA)
  • Two-Way Televisions, Distribution Of Moving Picture Or The Like (AREA)
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DE102012200264 2012-01-10
DE102012200264.2 2012-01-10
DE102012200264.2A DE102012200264B4 (de) 2012-01-10 2012-01-10 Bildverarbeitungssystem fuer ein Fahrzeug
PCT/EP2012/075526 WO2013104485A1 (de) 2012-01-10 2012-12-14 Bildverarbeitungssystem für ein fahrzeug

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